CN1330465C - Plate spring skeleton hydrulic pneumatic flexible bending joint - Google Patents
Plate spring skeleton hydrulic pneumatic flexible bending joint Download PDFInfo
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- CN1330465C CN1330465C CNB200410065130XA CN200410065130A CN1330465C CN 1330465 C CN1330465 C CN 1330465C CN B200410065130X A CNB200410065130X A CN B200410065130XA CN 200410065130 A CN200410065130 A CN 200410065130A CN 1330465 C CN1330465 C CN 1330465C
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Abstract
The present invention relates to a hydraulic pneumatic flexible bending joint for plate spring skeletons, which can be used as various joints robots, is particularly suitable for mechanical fingers with multiple bending joints and belongs to the technical field of robot and mechanical finger application. The joint uses a plate spring with various cross-sectional shapes as a flexible skeleton; an inner cavity of a wave shell elastic body axially expands after bearing the hydraulic pneumatic action to provide power to muscles; as limited by a side plate spring, the joint can not axially extend, the other side can axially extend, and accordingly, bending is caused. In the free state, the joint bending angle is relevant to gas pressure in the joint; in the work state, external acting force is increased along with the increasing of the gas pressure in the joint; a bent and deformed joint recovers to the original state through the action of the plate spring. The joint of the present invention has a single free angle mode and a multiple free angle mode, has the advantages of flexible bending action, low energy consumption, high dynamic control precision, and has good multi-joint compatibility when used as mechanical fingers with multiple joints.
Description
Technical field:
The present invention relates to a kind of plate spring skeleton hydrulic pneumatic flexible bending joint, this bending joint can be used as all kinds of joints such as the elbow, leg of robot, be particularly useful for the mechanical finger that constitutes by a plurality of bending joints, and a plurality of mechanical fingers one-tenth capable of being combined manipulator, as the executing agency of automation equipment, belong to robot, manipulator applied technical field.
Background technology:
Before the present invention makes, in prior art, the axial expansion that adopts air pressure to drive the cylindrical rubber elastic wall is arranged, produce the bending in joint owing to side metallic elastic sheet restriction elastic wall axial expansion, lean on the flexible joint (" air-driven flexible cylinder and bending, torsion knuckle ", number of patent application CN 87107075 A) of the elastic reaction reinstatement of elastic wall.Since the axial expansion consumes energy of elastic wall, power/volume
*The ratio of quality is little, and the aging of elastic wall rubber also can change its elastic modulus E, and the flexural deformation of elastic wall can't obtain than mathematical models; The metallic elastic sheet only plays restriction elastic wall axial expansion, but the installation of metallic elastic sheet is firm inadequately, is pulled by axial force easily.The axial expansion that the cylindrical elastomer body that adopts spiral spring frame, air pressure driving is also arranged, produce the bending in joint owing to lateral confinement system elongation, flexible joint (" pneumatic type limit free degree mechanical finger " by cylindrical elastomer body and helical spring elastic reaction reinstatement, " hydraulic pressure and pneumatic ", 2004 the 8th phases).Since the cylindrical elastomer body axially, a little is radially expanded all needs consumes energy, reaction is sensitive inadequately, and can't obtain than mathematical models the flexural deformation of cylindrical elastomer body, it is good inadequately dynamically to control effect, can not better realize multiarticulate harmony.
Summary of the invention:
The objective of the invention is to overcome above-mentioned weak point, it is flexible back bone that bending joint of the present invention adopts the flat spring of various shape of cross sections, and the ripple shell elastomer is subjected to expand as muscular motivation behind the air pressure; When being subjected to side external force, the single-degree-of-freedom joint can lateral bending yet, and multi-freedom joint also can cushion torsional pulse.The effect of backup plate spring, the reinstatement of diastrophic joint.The deformation force very little (can ignore) of the elongation of ripple shell elastomer, bending, the variation sensitivity of fluid pressure requires fluid flow little, the arthrogryposis flexible movements, it is little to consume energy; Only need Large Deflection Deformation analysis, thereby be easy to calculate bending deformation quantity, simultaneously dynamic control accuracy height flat spring; During as multiarticulate mechanical finger, multiarticulate harmony is good.
Main solution of the present invention is achieved in that
The scheme I of plate spring skeleton hydrulic pneumatic flexible bending joint of the present invention is: the vertical sectional shape of single-unit ripple shell is the ripple shell elastomer 4 of shapes such as " V ", " U ", " Ω ", is clamped on the bayonet socket of headstock 2 and tailstock 7 by clip 3.The spring working portion is shaped as rectangle, trapezoidal or rhombus, and shape of cross section is that the two ends of the flat spring 5 of rectangle, crescent or arc are fixed on headstock 2 and the tailstock 7 through cushion block 6; Long hinge seat 11 is fixed on the tailstock 7, and short hinge seat 13 is fixed on the headstock 2, and hinge 12 links together long hinge seat 11 with short hinge seat 13 hinges, constitute linkage; Ripple shell elastomer 4 is subjected to the liquid gas pressure effect and during axial elongation, and because of the restriction of the flat spring 5 that is subjected to a side produces bending, the constraint of linkage is rotated the joint single-degree-of-freedom, and this is the crooked flexible joint of a kind of single-degree-of-freedom.Cephalomere 1 is threaded with headstock 2, headstock 2 and the tailstock 7 fluid expansion cavity in the closed at both ends bending joint.Ripple shell elastomer 4 walls contain annular tram 14 and twine the winding organizine 15 of annular tram, and ripple shell elastomer 4 is radially not yielding like this, and its bearing capacity is strong; Axial deformation is easy, along axial stressed the ignoring of ripple shell elastomer 4 profiles.The eccentric throw of the axial line of headstock and tailstock bayonet socket and their main body axial line is e, and fluid-operated like this moment is big, and dynamic property is good, also makes the mounting structure compactness.Connect into the multi-joint finger by the identical male thread portion of headstock 2, tailstock 7 and the internal thread of middle joint 16.
The scheme II of plate spring skeleton hydrulic pneumatic flexible bending joint of the present invention is: removing inside, joint has long hinge seat 11, hinge 12, lacks the linkage that hinge seat 13 constitutes, porose headstock 2 and tailstock 7 among the headstock 2a of usefulness atresia and the tailstock 7a alternative scheme I; In the tailstock 7a outside, by pipe joint 9 among the union elbow 9a alternative scheme I, fluid circuit is radially external, and all the other structures are identical.Ripple shell elastomer 4 is subjected to the liquid gas pressure effect and during axial elongation, and because of the restriction of the flat spring 5 that is subjected to a side produces the multiple degrees of freedom bending, this is the crooked flexible joint of a kind of multiple degrees of freedom, its structure is less, flexible movements, the small-sized finger-joint that is easy to do, the impact of reversing also can be cushioned in this joint simultaneously.Connect into the multi-joint finger by the identical male thread portion of headstock 2a, tailstock 7a and the internal thread of middle joint 16.
In fact, according to the needs of structure and use, tailstock 7 or tailstock 7a all can radially or axially introduce joint cavity with fluid by pipe joint 9 or union elbow 9a from the joint; Certainly, the multi-joint manipulator that only uses pipe joint 9 is referred to have independent flexible pipe in the joint cavity of bottom, to pass hermetically, be communicated with the upper joints inner chamber again.
Compared with the prior art the present invention has the following advantages:
It is flexible back bone that plate spring skeleton hydrulic pneumatic flexible bending joint of the present invention adopts the flat spring of various shape of cross sections, and the ripple shell elastomer is subjected to axially to expand as muscular motivation behind the air pressure, can be as the flexible bending in the joint of staff.During free state, the arthrogryposis angle is relevant with its IA fluid pressure; During work, active force increases with IA fluid pressure.When being subjected to side external force, the single-degree-of-freedom joint can lateral bending yet, and multi-freedom joint also can cushion torsional pulse.Lean on the effect of the flat spring of different shape, various shape of cross sections, reinstatement after the arthrogryposis.Crooked and the speed of replying is by into and out of throttle valve adjustment.Joint of the present invention requires fluid flow little, and less pressure changes the flexural deformation that just produces greatly, and it is little to consume energy; And the relation of bending deformation quantity and fluid pressure is easily set up Mathematical Modeling, dynamic control accuracy height, and as multi-joint use occasions such as mechanical fingers, multiarticulate harmony is good.
Description of drawings:
Fig. 1 is the front view of bending joint scheme I of the present invention
Fig. 2 is the A-A cutaway view of bending joint scheme I front view of the present invention
Fig. 3 is the B place partial enlarged drawing of bending joint scheme I front view of the present invention
Fig. 4 is the front view of bending joint scheme II of the present invention
Fig. 5 is the right view of bending joint scheme I headstock part of the present invention
Fig. 6 is the front view of bending joint scheme I headstock part of the present invention
Fig. 7 is the left view of bending joint scheme I headstock part of the present invention
Fig. 8 is the front view of bending joint scheme I tailstock part of the present invention
Fig. 9 is the left view of bending joint scheme I tailstock part of the present invention
Figure 10 is the fluid control principle figure of bending joint scheme I of the present invention or II
The specific embodiment:
Scheme I during following the present invention incites somebody to action in conjunction with the accompanying drawings implements to be further described:
The joint of scheme I mainly is made of cephalomere 1, headstock 2, clip 3, ripple shell elastomer 4, flat spring 5, cushion block 6, tailstock 7, sealing gasket 8, pipe joint 9, flexible pipe 10, long hinge seat 11, hinge 12, short hinge seat 13, annular tram 14, winding organizine 15, middle joint 16 etc.
Be the operation principle of the present invention and the course of work below:
It is flexible back bone that plate spring skeleton hydrulic pneumatic flexible bending joint of the present invention adopts the flat spring 5 of different shape, various shape of cross sections, and ripple shell elastomer 4 is subjected to expand as muscular motivation behind the air pressure.After ripple shell elastomer 4 inner chambers are subjected to air pressure, because in the restriction of side plate spring 5, can not axial elongation, opposite side can axial elongation, therefore produces crooked.During free state, the arthrogryposis angle is relevant with its IA fluid pressure; During work, external active force increases with IA fluid pressure.Limited the free degree in joint, when being subjected to side external force, the joint can lateral bending yet; But moment of torsion can make joint headstock 2 produce certain rotation with its main core line, and under the certain situation of moment of torsion, its rotational angle is relevant with shape of cross section, the size of flat spring 5; Therefore, the joint has certain flexibility crooked with reversing.Lean on the effect of the flat spring 5 of various shape of cross sections, Mathematical Modeling is easily set up in reinstatement after the arthrogryposis, and the relation of bending deformation quantity and fluid pressure.
As shown in Figure 10, the fluid passage in joint has flexible pipe, bi-bit bi-pass, two position three-way valve, import and export adjustable throttling and pressure transmitter etc.Pressure transmitter is mainly used to the pressure of test fluid, and this pressure signal is transformed into the voltage or the electric current signal of telecommunication of standard, so that control use.The effect of accumulator or air accumulator is the pressure stability in liquid gas pressure power source in the assurance work.When static control or dynamic accuracy are less demanding, control system adopts pressure transmitter to transmit pressure signal, in computer relatively according to the pressure parameter of model numerical value computational chart or experiment parameter matched curve and predefined value, the electromagnetic valve coil of break-make two-position valve.1DT gets electric, and the arthrogryposis angle constantly increases; The 1DT dead electricity, two position two-way valve 2DT gets electric, keeps the arthrogryposis angle; The equal dead electricity of 1DT, 2DT, the effect by spring makes IA fluid evacuation, and finger stretches.The fast jogging speed of point bending, stretching is by the import and export adjustable throttle valve regulation of fluid passage.When dynamically control accuracy is high, need be on the joint setting angle and power sense sensor, adopt closed-loop fashion to control in real time.
During the multi-joint combination, according to the operation requirement, the gas circuit in each joint that number is the amount doesn't matter has a cover flexible pipe separately, above-mentioned control systems such as import and export choke valve and pressure transmitter, control separately separately, when therefore pointing as multi-joint, multiarticulate harmony is good.
Claims (5)
1. plate spring skeleton hydrulic pneumatic flexible bending joint is characterized in that: sealing is clamped on the bayonet socket of headstock (2) and tailstock (7) by clip (3) at ripple shell elastomer (4) two ends; The two ends of flat spring (5) are fixed on by screw on headstock (2) and the tailstock (7) through cushion block (6); Long hinge seat (11) is fixed on the tailstock (7), short hinge seat (13) is fixed on the headstock (2), hinge (12) will long hinge seat (11) and short hinge seat (13) hinged, constitute linkage, linkage is positioned at the inside of ripple shell elastomer (4); Ripple shell elastomer (4) is subjected to the liquid gas pressure effect and during axial elongation, and because of the restriction of the flat spring (5) that is subjected to a side produces bending, the constraint of linkage is rotated the joint single-degree-of-freedom.
2. plate spring skeleton hydrulic pneumatic flexible bending joint is characterized in that: sealing is clamped on the bayonet socket of headstock (2a) and tailstock (7a) by clip (3) at ripple shell elastomer (4) two ends; The two ends of flat spring (5) are fixed on by screw on headstock (2a) and the tailstock (7a) through cushion block (6); Ripple shell elastomer (4) is subjected to the liquid gas pressure effect and during axial elongation, because of the restriction of the flat spring (5) that is subjected to a side produces the multiple degrees of freedom bending.
3. plate spring skeleton hydrulic pneumatic flexible bending joint according to claim 1 and 2, it is characterized in that: adopt flat spring (5) to be flexible back bone, the shape of cross section of flat spring (5) is rectangle, crescent or arc, and the working portion of flat spring (5) is shaped as rectangle, trapezoidal or rhombus.
4. plate spring skeleton hydrulic pneumatic flexible bending joint according to claim 1 and 2, it is characterized in that: adopt ripple shell elastomer (4) to be subjected to axially to extend as crooked power behind the liquid gas pressure, the longitudinal section of the single-unit ripple shell of ripple shell elastomer (4) is rectangle, " V ", " U " or " Ω " type, the wall of ripple shell elastomer (4) contains annular tram (14) and twines the winding organizine (15) of annular tram, its effect is to improve bearing capacity, reduces radial deformation.
5. plate spring skeleton hydrulic pneumatic flexible bending joint according to claim 1 and 2 is characterized in that: headstock (2,2a) and tailstock (7, the axial line of bayonet socket 7a) and their main core line off-centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410065130XA CN1330465C (en) | 2004-10-23 | 2004-10-23 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410065130XA CN1330465C (en) | 2004-10-23 | 2004-10-23 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
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| Publication Number | Publication Date |
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| CN1618580A CN1618580A (en) | 2005-05-25 |
| CN1330465C true CN1330465C (en) | 2007-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200410065130XA Expired - Fee Related CN1330465C (en) | 2004-10-23 | 2004-10-23 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554730B (en) * | 2008-04-11 | 2013-08-28 | 江南大学 | Articulated flexible manipulator |
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| CN101239468B (en) * | 2007-02-07 | 2012-05-30 | 浙江工业大学 | Pneumatic rigid/flexible bending joint |
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| CN103744426B (en) * | 2014-01-02 | 2016-03-30 | 上海大学 | A kind of quadruped robot Bionic flexible body bends control system |
| CN104015197B (en) * | 2014-06-04 | 2016-06-01 | 山东省科学院自动化研究所 | The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system |
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| CN105965534B (en) * | 2016-03-09 | 2018-08-14 | 中国科学院等离子体物理研究所 | A kind of joint of mechanical arm under vacuum environment |
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| CN111844124B (en) * | 2020-07-27 | 2022-05-27 | 珠海格力智能装备有限公司 | Mechanical arm and robot with same |
| CN113975089B (en) * | 2021-10-29 | 2022-12-27 | 江南大学 | Reconfigurable modular flexible upper limb exoskeleton rehabilitation robot |
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2004
- 2004-10-23 CN CNB200410065130XA patent/CN1330465C/en not_active Expired - Fee Related
Patent Citations (5)
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|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| JPH0663878A (en) * | 1992-08-17 | 1994-03-08 | Toshiba Corp | Articulated drive mechanism for use in furnace |
| JPH06114785A (en) * | 1992-10-09 | 1994-04-26 | Toshiba Corp | Articulated robot |
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| CN2628779Y (en) * | 2003-07-14 | 2004-07-28 | 浙江工业大学 | Pneumatic flexible torsional joint |
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| 气动式柔性限自由度机械手指 章军，须文波，杨宏建，液压与气动，第8期 2004 * |
Cited By (1)
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| CN101554730B (en) * | 2008-04-11 | 2013-08-28 | 江南大学 | Articulated flexible manipulator |
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| Publication number | Publication date |
|---|---|
| CN1618580A (en) | 2005-05-25 |
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Assignee: Wuxi Yilida Machinery Co., Ltd. Assignor: Jiangnan University Contract fulfillment period: 2008.12.22 to 2013.12.22 contract change Contract record no.: 2009320000002 Denomination of invention: Plate spring skeleton hydrulic pneumatic flexible bending joint Granted publication date: 20070808 License type: Exclusive license Record date: 2009.1.8 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.12.22 TO 2013.12.22; CHANGE OF CONTRACT Name of requester: WUXI YILIDA MACHINARY CO., LTD. Effective date: 20090108 |
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